Study On UAV Task Assignment Under Wind Environment

The task assignment of UAV is a key issue for UAV research.Wind has a significant effect on the control of unmanned aerial vehicles(UAVs),resulting in changes in their ground speed and direction,which has an important influence on the results of UAV task allocation.Therefore,the task assignment problem of UAV under the influence of wind,which minimizes the flight time of UAV as the optimization goal,has certain practical significance.First of all,the research on the task assignment of quad copter UAV in steady wind is studied.According to the vector relationship between wind speed,UAV airspeed,and UAV ground speed,a method is proposed to calculate the flight time of UAV between targets,the variable-speed VRP model(VS-VRP)is constructed based on minimizing the time when the UAV finish all mission and return to the start point.Experiments show that the results of UAV assignment are different under the presence and absence of wind.Then,on the basis of the above problems,considering the dynamic constraints of the fixed-wing UAV,the Euclidean distance between any two targets is expanded to Dubins path.Further research on task allocation under the influence of wind is carried out.The Dubins path variable speed VRP model(DP-VS-VRP)is constructed.By designing crossover and mutation operator,the genetic algorithm is used to solve the problem under windless and different wind conditions.The experimental results show that under the consideration of UAV constraint,the existence of wind has the same effect on the task allocation of UAVs,and the model can solve the problem efficiently.